Add motion_primitives_forward_controller for interfacing motion primitive messages with hardware interfaces

[mathias31415]

This PR adds the motion_primitives_forward_controller, a controller for forwarding motion primitive commands to motion-primitive-capable hardware interfaces.
It was developed alongside the motion_primitive_ur_driver and is intended to support future hardware interfaces for additional robot manufacturers.
The corresponding PR for integrating the motion_primitive_ur_driver into the official Universal Robots ROS 2 driver can be found here: UniversalRobots/Universal_Robots_ROS2_Driver#1341.

The controller subscribes to MotionPrimitive.msg from the industrial_robot_motion_interfaces package. The MotionPrimitive.msg has been extended with additional helper types:

• STOP_MOTION: Immediately interrupts execution and clears all queued primitives.
• MOTION_SEQUENCE_START and MOTION_SEQUENCE_END: Define a sequence of primitives to be executed as a blended motion block.

The controller uses the following interfaces:

Command Interfaces

• motion_type: Type of motion primitive (e.g., LINEAR_JOINT, LINEAR_CARTESIAN, CIRCULAR_CARTESIAN, etc.)
• q1 – q6: Target joint positions for joint-based motion
• pos_x, pos_y, pos_z: Target Cartesian position
• pos_qx, pos_qy, pos_qz, pos_qw: Orientation quaternion of the target pose
• pos_via_x, pos_via_y, pos_via_z: Intermediate via-point position for circular motion
• pos_via_qx, pos_via_qy, pos_via_qz, pos_via_qw: Orientation quaternion of via-point
• blend_radius: Blending radius for smooth transitions
• velocity: Desired motion velocity
• acceleration: Desired motion acceleration
• move_time: Optional duration for time-based execution

State Interfaces

• execution_status: Indicates the current execution state of the primitive.
• ready_for_new_primitive: Boolean flag indicating whether the interface is ready to receive a new motion primitive

I'd appreciate any feedback or suggestions – thanks in advance!

[bmagyar]

There is a lot of stuff coming from templates in this PR and you either used some AI tool for coding or you are very good at writing AI-style comments.

Please try removing all commented code or fix them and remove all comments that add nothing to the code itself (which in this code is almost all comments...)

[codecov]

Codecov Report

Attention: Patch coverage is 59.42408% with 155 lines in your changes missing coverage. Please review.

Project coverage is 85.62%. Comparing base (a10c564) to head (b2550d1).

Files with missing lines	Patch %	Lines
...oller/src/motion_primitives_forward_controller.cpp	39.25%	128 Missing and 19 partials ⚠️
...test/test_motion_primitives_forward_controller.hpp	89.06%	3 Missing and 4 partials ⚠️
...test/test_motion_primitives_forward_controller.cpp	97.82%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1636      +/-   ##
==========================================
- Coverage   86.44%   85.62%   -0.82%     
==========================================
  Files         123      129       +6     
  Lines       12259    12641     +382     
  Branches     1023     1070      +47     
==========================================
+ Hits        10597    10824     +227     
- Misses       1344     1475     +131     
- Partials      318      342      +24     

Flag	Coverage Δ
unittests	85.62% <59.42%> (-0.82%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...ontroller/motion_primitives_forward_controller.hpp	100.00% <100.00%> (ø)
...test_load_motion_primitives_forward_controller.cpp	100.00% <100.00%> (ø)
...otion_primitives_forward_controller_preceeding.cpp	100.00% <100.00%> (ø)
...test/test_motion_primitives_forward_controller.cpp	97.82% <97.82%> (ø)
...test/test_motion_primitives_forward_controller.hpp	89.06% <89.06%> (ø)
...oller/src/motion_primitives_forward_controller.cpp	39.25% <39.25%> (ø)

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[urfeex]

Currently, all 25 command interfaces are given to the controller and then added with the motion_primitive prefix. The actual names of the interfaces don't matter as far as I can see from your implementation, they could also be i0 to i24. The prefix, however (the gpio group name), has to be exactly motion_primitive. That's not necessarily the case. As in your implementation for UR, the group name is ${tf_prefix}motion_primitive which would mean that this controller would not work if a tf_prefix is set. I would suggest to either

• pass full interface names to the controller (such as $(var tf_prefix)motion_primitive/q1) or
• pass both, the group name and each interface name as separate parameters or
• Have the interface names fixed and only pass the group name

[mathias31415]

I adjusted it so that the full name is passed to the controller ($(var tf_prefix)motion_primitive/q1).